From a9a7fe3ea5a010cc10f0a654ae9e7a30998dfe50 Mon Sep 17 00:00:00 2001
From: Andy Piper <github@andypiper.com>
Date: Thu, 29 Aug 2019 08:13:27 +0100
Subject: [PATCH] AP_InertialSensor: ensure harmonic notch gets appropriate
 defaults

---
 libraries/AP_InertialSensor/AP_InertialSensor.cpp | 3 +++
 1 file changed, 3 insertions(+)

diff --git a/libraries/AP_InertialSensor/AP_InertialSensor.cpp b/libraries/AP_InertialSensor/AP_InertialSensor.cpp
index 7526f25f39..58151e976f 100644
--- a/libraries/AP_InertialSensor/AP_InertialSensor.cpp
+++ b/libraries/AP_InertialSensor/AP_InertialSensor.cpp
@@ -667,6 +667,9 @@ AP_InertialSensor::init(uint16_t sample_rate)
 
     for (uint8_t i=0; i<get_gyro_count(); i++) {
         _gyro_harmonic_notch_filter[i].allocate_filters(_harmonic_notch_filter.harmonics());
+        // initialise default settings, these will be subsequently changed in AP_InertialSensor_Backend::update_gyro()
+        _gyro_harmonic_notch_filter[i].init(_gyro_raw_sample_rates[i], _calculated_harmonic_notch_freq_hz,
+             _harmonic_notch_filter.bandwidth_hz(), _harmonic_notch_filter.attenuation_dB());
     }
 }